CN212302504U - Panoramic all-round looking system of articulated road roller and articulated road roller - Google Patents
Panoramic all-round looking system of articulated road roller and articulated road roller Download PDFInfo
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- CN212302504U CN212302504U CN202022016196.7U CN202022016196U CN212302504U CN 212302504 U CN212302504 U CN 212302504U CN 202022016196 U CN202022016196 U CN 202022016196U CN 212302504 U CN212302504 U CN 212302504U
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Abstract
The utility model relates to an articulated road roller panorama look around system and articulated road roller, wherein, articulated road roller includes first articulated structure section and the articulated structure section of second through articulated frame connection, and first articulated structure section includes first automobile body and establishes the driver's cabin on first automobile body, and first automobile body is one in preceding automobile body and the back automobile body, and second articulated structure section includes the second automobile body, and the second automobile body is another in preceding automobile body and the back automobile body, and panorama look around system includes: a plurality of camera components mounted to the first articulated structure section configured to camera an environment surrounding the articulated road roller; an image processing section configured to receive images photographed by the plurality of photographing sections and to stitch the images as a panoramic image around the first hinge structure section; and the human-computer interaction part is configured to display the panoramic image formed by splicing the image processing part.
Description
Technical Field
The utility model relates to a road roller auxiliary driving technical field especially relates to an articulated road roller panorama look around system and articulated road roller.
Background
The development of modern science and technology has greatly promoted the intellectuality of road roller, and more high-end technique is introduced the road roller field, makes the road roller constantly step forward towards more high-efficient, safer target. Usually, the road roller can only rely on rearview mirrors or auxiliary observation of reversing images to observe the surrounding environment in the construction process, but due to the existence of shelters such as a vehicle head, a vehicle window and a column, and the general higher field of vision of a driving cab of the road roller is limited, a blind area exists in the field of vision of a driver, and the existence of obstacles and the distance between the obstacles in the sheltered area can not be judged.
Moreover, in order to improve the flexibility of steering and operation of the road roller, the road roller with the cab connected with the rear frame through the hinge mechanism is provided, and in the steering process of the road roller, because the angle of the rear frame relative to the cab is continuously changed, a driver is more difficult to judge the environment around the road roller, the operation difficulty is increased, and the safety of the driving process is difficult to ensure.
SUMMERY OF THE UTILITY MODEL
The embodiment of the disclosure provides a panoramic all-round looking system of an articulated road roller and the articulated road roller, which can improve the safety of the road roller in the driving process.
The first aspect of the disclosure provides an articulated road roller panorama look around system, articulated road roller include first articulated structure section and the second articulated structure section of connecting through articulated frame, first articulated structure section includes first automobile body and establishes the driver's cabin on first automobile body, first automobile body is one in preceding automobile body and the back automobile body, second articulated structure section includes the second automobile body, the second automobile body is another in preceding automobile body and the back automobile body, panorama look around system includes:
a plurality of camera components mounted to the first articulated structure section configured to camera an environment surrounding the articulated road roller;
an image processing section configured to receive images photographed by the plurality of photographing sections and to stitch the images as a panoramic image around the first hinge structure section; and
and the human-computer interaction part is configured to display the panoramic image formed by splicing the image processing part.
In some embodiments, the plurality of camera components are all located on the same side of the articulated frame along the length of the articulated roller.
In some embodiments, the plurality of camera members are disposed around an outer periphery of the cab or an outer periphery of the first hinge structure section.
In some embodiments, the plurality of photographing parts includes four photographing parts respectively provided at the front, rear, left and right sides of the cab.
In some embodiments, the plurality of shooting parts are arranged at the top of the cab, and the shooting surface of the shooting part faces the outer side of the cab and is obliquely downward.
In some embodiments, the plurality of photographing parts includes four photographing parts respectively disposed at a side of the cab close to the hinge frame, a left side of the cab, a right side of the cab, and a side of the first vehicle body away from the hinge frame.
In some embodiments, further comprising:
the walking control component is electrically connected with the image processing component, is configured to control the advancing direction and the advancing speed of the articulated road roller and transmits the information of the advancing direction and the advancing speed to the image processing component;
wherein the image processing part is configured to move the all-round view image displayed in the human-computer interaction part up and down according to the traveling direction, move the all-round view image down when the traveling direction is forward, move the all-round view image up when the traveling direction is backward, and determine the speed of the all-round view image movement and the position where the final image stops according to the traveling speed.
In some embodiments, the vehicle further comprises a plurality of calibration devices, the calibration devices are arranged on a preset reference plane outside the cab and around the periphery of the cab or the first hinge structure section, the top surfaces of the calibration devices are lower than the installation height of the shooting component at the corresponding position, and the calibration devices are configured to calibrate the shot image before the shooting components are used formally.
In some embodiments, the human-computer interaction component is configured to receive a calibration instruction of an operator for moving a calibration cursor to a feature identifier in the calibration device, and send the calibration instruction to the image processing component; the image processing part is configured to receive the calibration instruction and correct distortion in the images captured by the plurality of capturing parts according to actual parameters of the plurality of calibration devices.
In some embodiments, the actual parameters of the plurality of calibration devices include: the distance between two adjacent calibration devices and the overall dimension of a feature identifier in a single calibration device are configured to enable an operator to perform calibration through a calibration cursor in the man-machine interaction component.
In some embodiments, the plurality of calibration devices are arranged outside the preset reference frame, and the preset reference frame is wholly outwards offset by a preset distance relative to a rectangular area formed by the outline of the cab or the first hinge structure section;
in conjunction with the display of the human-computer interaction component, the shooting angles of the plurality of shooting components are configured to be adjusted to a range from the body of the articulated road roller to a preset reference frame.
In some embodiments, the plurality of calibration devices are arranged outside the preset reference frame, and the preset reference frame is outwardly offset by a preset distance relative to the whole area where the outer contour of the cab is located;
the calibration devices are respectively arranged at four corners of the preset reference frame.
In some embodiments, the height of the calibration device is adjustable.
In some embodiments, the human-computer interaction component is configured to receive externally input image revision parameters of at least some of the plurality of photographing components so that the all-round images are at the same height.
In some embodiments, the calibration device comprises:
a base;
the first end of the first support frame is fixed on the base;
the second support frame is positioned above the first support frame, and the first end of the second support frame is connected with the second end of the first support frame and is adjustable in height; and
the frame is connected to the second end of the second support frame and serves as a feature identifier when an operator marks the man-machine interaction part.
The present disclosure provides in a second aspect an articulated road roller comprising: the first hinge structure section and the second hinge structure section are connected through the hinge frame, and the hinge type roller panoramic all-round looking system is provided with the hinge type roller panoramic all-round looking system;
the first hinge structure section comprises a first vehicle body and a cab arranged on the first vehicle body, the first vehicle body is one of a front vehicle body and a rear vehicle body, the second hinge structure section comprises a second vehicle body, and the second vehicle body is the other of the front vehicle body and the rear vehicle body.
Based on the technical scheme, the panoramic all-around viewing system of the articulated road roller disclosed by the embodiment of the disclosure is characterized in that a plurality of shooting components are arranged on a first articulated structure section, and when a second articulated structure section swings relative to the first articulated structure section comprising a cab in the advancing process of the road roller, the shooting components can also clearly shoot the position change of the second articulated structure section and the conditions outside the cab, so that the image splicing is easier, the image splicing effect can be optimized, and the visual blind area is prevented; and an angle sensor is not required to be additionally arranged to detect the swing angle of the vehicle body structure so as to realize image splicing, so that the structure of the panoramic all-around viewing system is simpler and is easy to realize.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure. In the drawings:
fig. 1 is a side view of some embodiments of an articulated compactor according to the disclosure;
fig. 2 is a top view of some embodiments of the articulated compactor of the disclosure;
FIG. 3A is an overall top view model of the articulated road roller of the present disclosure;
FIG. 3B is a model of the overall overhead model of FIG. 3A, with only the articulation end section of the cab;
FIG. 3C is a schematic view of the determined default reference frame;
FIG. 3D is a schematic structural diagram of the calibration devices arranged at four corners outside the preset reference frame;
FIG. 4 is a schematic diagram of actual parameters of a plurality of calibration devices;
FIG. 5 is a schematic diagram of a configuration of some embodiments of a calibration device;
fig. 6 is a schematic block diagram of some embodiments of an articulated compactor panoramic all-round system of the present disclosure.
Description of the reference numerals
1. A first hinge structure section; 11. a first vehicle body; 12. a cab; 13. an elastic coupling; 2. a second hinge structure section; 21. a second vehicle body; 3. a hinged frame; 4. a front wheel; 5. a rear wheel; 6. a photographing part; 7. a calibration device; 71. a base; 711. a cross beam; 72. a first support frame; 73. a second support frame; 74. a frame; 741. a beam; 742. a reinforcing beam; x, calibrating a cursor; 8. an image processing section; 9. a human-computer interaction component; 10. a walking control component.
Detailed Description
The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Aspects so defined may be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature considered to be preferred or advantageous may be combined with one or more other features considered to be preferred or advantageous.
The terms "first", "second", and the like in the present disclosure are merely for convenience of description to distinguish different constituent elements having the same name, and do not denote a sequential or primary-secondary relationship.
In the description of the present disclosure, the directions or positional relationships indicated by "up", "down", "left", "right", "front", "rear", "inner", and "outer" and the like are all defined based on the direction in which the operator sits in the cab, and are merely for convenience of description of the present disclosure, and do not indicate or imply that the device referred to must have a specific direction, be configured and operated in a specific direction, and therefore, should not be construed as limiting the scope of the present disclosure.
As shown in fig. 1-6, the present disclosure provides a panoramic all-round system for an articulated compactor, in some embodiments, the articulated compactor includes a first articulated structure section 1 and a second articulated structure section 2 connected by an articulated frame 3, the first articulated structure section 1 includes a first vehicle body 11 and a cab 12 provided on the first vehicle body 11, the cab 12 is mountable on the first vehicle body 11 by an elastic coupling 13, the first vehicle body 11 is one of a front vehicle body and a rear vehicle body, the second articulated structure section 2 includes a second vehicle body 21, and the second vehicle body 21 is the other of the front vehicle body and the rear vehicle body.
During travel of the soil compactor, the second joint section 2 can be pivoted in the horizontal plane relative to the first joint section 1, in which the cab 12 is located. If the first vehicle body 11 is a front vehicle body, the cab 12 is mounted on the front vehicle body, and the rear vehicle body can swing in a horizontal plane relative to the cab 12 when the road roller runs; alternatively, the cab 12 may be mounted on the rear vehicle body. As shown in fig. 1, the front side of the cab 12 is provided with a front wheel 4, the front wheel 4 may be a steel wheel, the rear side of the second vehicle body 21 is provided with a rear wheel 5, and the rear wheel 5 may be a steel wheel or a tire.
The panoramic looking around system may comprise: a plurality of shooting parts 6, an image processing part 8 and a man-machine interaction part 9.
Wherein the plurality of photographing parts 6 are mounted to the first hinge structure section 1, for example, the plurality of photographing parts 6 may be all mounted to the cab 12, or mounted to both the cab 12 and the first body 11. The plurality of camera components 6 are configured to photograph the environment around the articulated road roller, including the vehicle body, the ground, and the surroundings, for example, the camera components 6 may be mounted on the outside of the cab 12 or the first vehicle body 11, and the camera components 6 may be cameras, such as a panoramic camera, a wide-angle camera, or a fisheye camera, etc.
The image processing means 8 is electrically connected to the plurality of photographing means 6, is configured to receive images photographed by the plurality of photographing means 6, may be pictures or videos, and is stitched as a full-circle 360 ° panoramic image around the first articulated structure section 1. Thus, the image processing unit 8 performs processing such as distortion correction, perspective transformation, and panorama stitching fusion on images captured by the plurality of imaging units to generate a panoramic image, thereby obtaining a live view image of the periphery of the first articulated structure section 1. For example, the image processing section 8 may be a DSP, a PLC controller, or the like.
The human-computer interaction part 9 is configured to display the panoramic images formed by splicing the image processing part 8, so that the driver can see the environment around the road roller more clearly, and a basis is provided for controlling the travelling and the operation of the road roller. For example, the human-computer interaction part 9 may be a display or a touch display screen or the like.
According to the embodiment, the shooting parts 6 are all installed on the first hinge structure section 1, when the second hinge structure section 2 swings relative to the first hinge structure section 1 in the advancing process of the road roller, the shooting parts 6 can clearly shoot the position change of the second hinge structure section 2 and the conditions outside the cab 12, so that image splicing is easier, the image splicing effect can be optimized, the surrounding conditions of a vehicle body can be reflected more clearly through a panoramic image, and a visual blind area is prevented. Therefore, a more visual and clear judgment basis can be provided for an operator when the road roller is in various complex working conditions, the operator can clearly observe the condition of the side surface in a cab when the road roller is pressed against the road side, and the problem of pressure leakage can be prevented. And an angle sensor is not required to be additionally arranged to detect the swing angle of the vehicle body structure so as to realize image splicing, so that the structure of the panoramic all-around viewing system is simpler and is easy to realize.
If a plurality of shooting parts 6 surround the whole vehicle body, the large-amplitude swing of the shooting parts 6 can be involved when the vehicle body structure swings, the split effect is generated between the images shot by the plurality of shooting parts 6, an angle sensor is required to be additionally arranged to detect the swing angle, the stored vehicle model is continuously corrected according to the actual situation, the realization is complex, the storage amount of the vehicle model at each angle is large, the final realization process is complex and high in cost, the angle sensor cannot complete the switching and image splicing of the vehicle model during the hinging if damaged, even if compensation algorithms such as other visual identification are adopted, the camera can deviate along with the vehicle body, the vehicle periphery vision shot by the camera is also displaced, and finally a near-real panoramic view cannot be obtained.
As shown in fig. 1, the plurality of photographing parts 6 are all positioned at the same side of the hinge frame 3 along the length direction of the articulated road roller. For example, when the cab 12 is positioned on the front vehicle body, all of the plurality of imaging members 6 are positioned on the front side of the articulated frame 3. This kind of arrangement can make whole back automobile body be in the shooting scope that is close to the shooting part 6 of back automobile body completely, is difficult to appear sheltering from, can make panoramic image embody the environment around 1 of first hinge structure section more clearly, prevents the vision blind area.
In some embodiments, a plurality of camera members 6 are disposed around the periphery of the cab 12 or the periphery of the first articulating structure segment 1.
If the length of the first vehicle body 11 is small, since the cab 12 is tall, a wider field of view can be obtained by disposing the plurality of imaging means 6 around the outer periphery of the cab 12.
If the length of first automobile body 11 is great, for example, first automobile body 11 is the rear automobile body, and two tires are installed to the bottom of rear automobile body, and this kind of road roller still has longer distance in driver's cabin 12 rear side after rear automobile body is close to one side installation driver's cabin 12 of articulated frame 3, if all shoot parts 6 all establish on driver's cabin 12, can cause the camera part 6 of rear side to be too big by the blind area that rear automobile body sheltered from, if install the camera part 6 of rear portion in the one end that first automobile body 11 keeps away from articulated frame 3, just can avoid sheltering from by the automobile body and appearing the blind area.
As shown in fig. 2, the plurality of photographing members 6 are provided on the cab 12, and the plurality of photographing members 6 include four photographing members 6 provided at the front, rear, left, and right sides of the cab 12, respectively, to photograph images of the front, rear, left, and right environments of the cab 12, respectively. For example, four photographing members 6 may be provided at intermediate positions of the front, rear, left, and right sides of the cab 12, respectively. This arrangement allows the operator's cab 12 to be clearly viewed in all directions in the surround view image.
In some embodiments, a plurality of imaging means 6 are provided on the ceiling of the cab 12, and the imaging surface of the imaging means 6 faces the outside of the cab 12 and is inclined downward, whereby the imaging means 6 can image both a partial image of the vehicle body and an image around the cab. For example, when a fisheye camera is used, a range of 190 ° can be photographed in the lateral direction and a range of 140 ° can be photographed in the longitudinal direction.
In some embodiments, the plurality of photographing members 6 includes four photographing members 6 provided at a side of the cab 12 close to the hinge frame 3, a left side of the cab 12, a right side of the cab 12, and a side of the first vehicle body 11 away from the hinge frame 3, for a manner in which the plurality of photographing members 6 are provided around the outer circumference of the first hinge structure section 1.
In some embodiments, as shown in fig. 6, the panoramic looking around system may further comprise: and a travel control unit 10 electrically connected to the image processing unit 8, configured to control the traveling direction and the traveling speed of the articulated road roller, and to transmit information on the traveling direction and the traveling speed to the image processing unit 8. For example, the travel control unit 10 may be a DSP, a PLC controller, or the like.
Wherein the image processing means 8 is configured to move the panoramic image displayed in the human-machine interaction means 9 up and down, depending on the direction of travel of the roller, where the up and down movement is up and down in the display area of the human-machine interaction means 9. Moving the look-around image downwards when the advancing direction is forward so as to enlarge the display range in front of the road roller; and when the advancing direction is the rear direction, the all-round looking image is moved upwards so as to enlarge the display range behind the road roller, and the moving speed of the all-round looking image and the position of the all-round looking image stopped in the display area of the human-computer interaction part 9 are determined according to the advancing speed, so that the display change of the all-round looking image in the human-computer interaction part 9 follows the advancing process of the road roller and the display range meets the requirement of the safe braking distance range at the current speed. The running speed of the vehicle is proportional to the braking safety distance of the final vehicle, and the area displayed in the picture is proportional to the actual space at the front or rear side of the actual vehicle, i.e. the faster the speed, the more safety areas should be displayed in the picture, for example, the more linear change with the speed is from 3m to 10 m.
The embodiment can enable the vehicle model to be closer to the direction opposite to the advancing direction, enable the images in the advancing direction to be more presented in the man-machine interaction part 9, enable an operator to observe the environmental condition in front of the advancing direction of the road roller in a wider range, enable the operator to predict the advancing condition of the road roller in advance, and enable the operator to take measures in advance when special conditions occur.
Moreover, since the stitched panoramic image itself is larger than the image displayed in the human-computer interaction part 9, when the whole screen moves up and down, only the pre-stitched image is moved into the display area to be displayed, and a new image is not completely stitched again to be displayed, so that the coordination degree of the whole screen is not affected, and the stitched image is not deformed.
On the basis of the above-described embodiment, as shown in fig. 3A to 3D, the panoramic all-around system further includes a plurality of calibration devices 7 provided on a predetermined reference plane outside the cab 12 and disposed around the outer periphery of the cab 12 or the first articulated structure section 1, the top surfaces of the plurality of calibration devices 7 are lower than the installation height of the photographing component 6 at the corresponding position, so that the top surfaces of the calibration devices 7 are located in the mid-air above the reference plane and below the photographing component 6, and the plurality of calibration devices 7 are configured to calibrate the photographed image before the plurality of photographing components 6 are used in full scale. For example, the reference plane may be the ground or the platform.
For example, the height of the calibration device 7 may be close to the height of the front wheel 4, so that the proportion of the vehicle body in the display image is appropriate, and if the height of the calibration device 7 is too high, the proportion of the vehicle body in the display image is small, and the obstacles around the vehicle cannot be clearly and intuitively observed; if the height of the calibration device is too low, the proportion of the vehicle body in the display image is large, so that the visible area around the vehicle body is small, and the safety distance requirement required by the system cannot be met.
When the panoramic all-round-looking system is formally used, the image shot by the shooting part 6 is calibrated through the calibration device 7, so that the vehicle body and the surrounding scene can be adjusted to a more proper proportion in the all-round-looking image to be closer to the real Shangdi view angle, the display image seen by the driver is more real, and the surrounding situation of the vehicle can be more easily identified. The top surface of the calibration device 7 is at a proper height in the air, so that the shooting component 6 can obtain a clearer image with proper proportion, and the picture proportion of the all-round image is more harmonious. And moreover, when people pass through the image splicing part, blind areas for identifying the people are reduced as much as possible.
Specifically, as shown in fig. 3A to 3D, four photographing components 6 are provided on the cab 12, and four calibration devices 7 are arranged on a reference plane outside the preset reference frame K, specifically, as follows:
1. as in fig. 3A, an overall overhead model of the articulated road roller is obtained;
2. as shown in fig. 3B, the entire overhead model only retains a partial model of the area where the contour of the cab 12 is located, where the contour of the cab 12 refers to the actual outer edge of the cab 12;
3. as shown in fig. 3C, finding out an actual region corresponding to the partial model in the actual vehicle body, shifting the actual region by a preset distance L outward relative to the actual region, and marking a preset reference frame K on the reference plane, wherein the preset reference frame K is a rectangle;
4. as shown in fig. 3D, four calibration devices 7 are arranged at four corners of the preset reference frame K on the reference plane around the preset reference frame K, and the projections of the inner vertices of the feature identifiers of the calibration devices 7 on the reference plane coincide with the corners of the preset reference frame K.
In the captured image, the model of the portion of the area where the contour of the cab 12 is located does not change much, and the actual portion of the vehicle body captured by the capturing unit 6 is highly influenced by the height of the calibration device 7 because the calibration device 7 is directly observed by the capturing unit 6.
In some embodiments, as shown in fig. 4, the human-computer interaction component 9 is configured to receive a calibration instruction of an operator moving a calibration cursor X onto a feature identifier in the calibration device 7, and send the calibration instruction to the image processing component 8; the image processing section 8 is configured to receive the calibration instruction and correct distortion in the images captured by the plurality of capturing sections 6 according to the actual parameters of the plurality of calibration devices 7.
For some shooting components 6 such as a fisheye camera, in order to shoot a larger range, the object in the shot image according to the near distance can be distorted, that is, part of the line of the object can be changed from a straight line to a curved line, and the embodiment can correct the shot image through the characteristic marker in the calibration device 7, so that a more real image can be displayed in the human-computer interaction component 9 for the operator to observe.
In some embodiments, the actual parameters of the plurality of calibration devices 7 include: the distance between two adjacent calibration devices 7 and the overall dimension of the feature identifier in a single calibration device 7, the feature identifier being configured to allow an operator to perform calibration with the calibration cursor X in the human-computer interaction component 9.
For example, one calibration device 7 is respectively arranged at four corners of the preset reference frame K, the outline of the feature marker of the calibration device 7 is a rectangle, and the actual parameters of the calibration devices 7 include: a distance L1 between the two front or rear left and right calibration devices 7, a distance L2 between the two front or rear left and right calibration devices 7, a length dimension L3 of the feature marker, and a width dimension L4 of the feature marker.
After the calibration device 7 is placed, actual parameters are input through the human-computer interaction part 9, and the vehicle type calibration device can adapt to different vehicle types. The actual parameters of the plurality of calibration devices can be obtained by manual measurement or by arranging visual recognition means, such as a camera, and the focal length, mounting position and distance from the calibration device 7 and the camera means 6 of the visual recognition means are known.
In some embodiments, the plurality of calibration devices 7 are disposed around the preset reference frame K, the calibration devices 7 are entirely located outside the preset reference frame K, and the projection portion of the feature marker of the calibration device 7 on the reference plane falls on the preset reference frame K, the preset reference frame K is entirely shifted outward by a preset distance L with respect to the area where the cab 12 or the outline of the first hinge structure section 1 is located, and the preset distance L may be 1m, or may also be set in combination with the requirement of safe operation. For example, the area in which the contour of the cab 12 is located is a rectangular area. In conjunction with the display of the human-machine interaction part 9, the shooting angles of the plurality of shooting parts 6 are configured to be adjusted to a range between the body of the articulated road roller and the preset reference frame K.
According to the embodiment, the shooting part 6 can shoot the area between the vehicle body and the preset reference frame K comprehensively, and the safety of the road roller in the advancing and working processes is improved. In addition, the proportion of the vehicle body in the display screen can be made appropriate.
In some embodiments, the plurality of calibration devices 7 are arranged outside a predetermined reference frame K, which is outwardly offset by a predetermined distance L with respect to the entire rectangular area in which the contour of the cab 12 or of the first articulated structure section 1 is located.
As shown in fig. 3D, four calibration devices 7 are disposed at four corners of the preset reference frame K.
In some embodiments, the height of the calibration device 7 is adjustable. Through the height adjustment of the height calibration device 7, the plane distortion of the height of the frame 74 in the calibration device 7 can be minimized, if the calibration device 7 is too close to the shooting component 6, more scenes outside the vehicle body can be seen after calibration, but the occupation ratio of the vehicle body in a display image is very small, and obstacles around the vehicle cannot be clearly and intuitively observed; if the calibration device 7 is too far away from the shooting component 6, the scenes outside the vehicle body can be seen after calibration, the proportion of the vehicle body in the display image is large, the visible area around the vehicle body is small, and the safety distance requirement required by the system cannot be met. Therefore, by adjusting the calibration device 7 to a suitable height, the proportion of the vehicle body and the environment outside the vehicle body in the image can be suitable, and the distortion of the plane where the vehicle body attention area is located after calibration can be minimized.
In some embodiments, the human-computer interaction component 9 is configured to receive externally input image revision parameters of at least some of the plurality of photographing components 6 so that the panoramic images are at the same height. Therefore, the operator can calibrate the shooting component 6 and set key parameters.
Because the installation heights of all the shooting components 6 are difficult to be completely consistent, the shooting components 6 with unmatched image heights can change the image display depth by inputting image revision parameters through an operator by observing the all-round images, so that the adjacent images are smoothly connected and transited, the all-round images are at the same height, and the image quality is optimized.
In some embodiments, as shown in fig. 5, the calibration device 7 includes: a base 71, a first support bracket 72, a second support bracket 73 and a frame. Wherein, the first end of the first supporting frame 72 is fixed on the base 71; the second support frame 73 is positioned above the first support frame 72, and the first end of the second support frame 73 is connected with the second end of the first support frame 72 and is adjustable in height; the frame 74 is connected to the second end of the second support frame 73, and the frame 74 is used as a feature identifier when the operator marks the human-computer interaction part 9, for example, the frame 74 may be a rectangular frame.
Specifically, as shown in fig. 5, the base 71 includes two beams 711 arranged in a crisscross; the first support frame 72 adopts a vertical rod, and the first end of the vertical rod is connected to the intersection point of the two beams 711; the second support frame 73 also adopts a vertical rod, the first end of the second support frame 73 can be inserted into the second end of the first support frame 72, or sleeved outside the second end of the first support frame 72, and the height is adjustable; the frame 74 includes a rectangular frame surrounded by four beams 741, the reinforcing beam 742 is connected between two opposite beams 741 and located at a middle position of the beams 741 in the length direction, and a second end of the second support frame 73 is connected to the reinforcing beam 742.
The frame 74 is of known dimensions and serves as a feature marker to facilitate the operator in calibrating the camera component 6 by moving the marker cursor X over the outer frame of the frame 74. Further, the size of the base 71 is larger than that of the frame 74, so that the calibration device 7 can be prevented from falling down during calibration, and the calibration safety and efficiency can be improved.
Secondly, this disclosure still provides an articulated road roller, includes: a first articulated structure section 1 and a second articulated structure section 2 which are connected through an articulated frame 3 and the articulated road roller panoramic all-round looking system of the embodiment. Wherein the first articulated structure section 1 comprises a first vehicle body 11 and a cab 12 provided on the first vehicle body 11, the first vehicle body 11 being one of a front vehicle body and a rear vehicle body, the second articulated structure section 2 comprising a second vehicle body 21, the second vehicle body 21 being the other of the front vehicle body and the rear vehicle body.
Secondly, the present disclosure also provides a calibration method of the panoramic all-round looking system of the articulated road roller based on the above embodiments, in some embodiments, the calibration method includes:
step 101, in combination with the display of the human-computer interaction part 9, adjusting the shooting angles of the plurality of shooting parts 6 to a range from the car body of the articulated road roller to a preset reference frame K, wherein the preset reference frame K is wholly shifted outwards by a preset distance L relative to the cab 12 or the area where the outline of the first articulated structure section 1 is located; for example, the reference frame K is preset to be a rectangle.
102, arranging a plurality of calibration devices 7 on a reference plane around a preset reference frame K; when the calibration device 7 is arranged at the corner of the preset reference frame K, the projection of the vertex of the inner side of the characteristic marker in the calibration device 7 in the reference plane can be superposed with the corner of the preset reference frame K; when the calibration device 7 is arranged on the edge of the preset reference frame K, the projection of the inner side edge of the feature marker in the calibration device 7 in the reference plane can be overlapped with the edge of the preset reference frame K.
And 103, moving the calibration cursor X in the human-computer interaction part 9 to the feature recognition object of the calibration device 7 so as to calibrate the shot images before the plurality of shooting parts 6 are used in full scale.
Wherein, the steps 101-103 can be executed sequentially. According to the embodiment, the shooting angles of the plurality of shooting components 6 can be adjusted, and shot images are calibrated, so that the shooting components 6 can shoot the area between the vehicle body and the preset reference frame K comprehensively, and the safety of the road roller in the advancing and working processes is improved. Moreover, the vehicle body and surrounding scenes can be adjusted to a more appropriate proportion in the all-round image so as to be closer to the real view angle of the god, so that the display image seen by the driver is more real, and the surrounding situation of the vehicle can be more easily identified.
In some embodiments, the calibration method of the present disclosure further includes:
and 104, after the all-around images are spliced and formed, setting image revision parameters of at least part of the shooting parts 6 in the plurality of shooting parts 6 through the human-computer interaction part 9 according to the height matching degree of all parts of images in the all-around images so as to enable the all-around images to be at the same height.
Wherein step 104 may be performed after step 103. Because the installation heights of all the shooting components 6 are difficult to be completely consistent, the shooting components 6 with unmatched image heights can change the image heights by observing the all-round looking images through inputting image revision parameters by operators, so that the adjacent images are smoothly connected and transited, the all-round looking images are at the same height, and the image quality is optimized.
In some embodiments, the step 102 of arranging the plurality of calibration devices 7 on the reference plane around the preset reference frame K comprises:
102A, obtaining an integral overlooking model of the articulated road roller, as shown in FIG. 3A;
step 102B, only a partial model of the area of the contour of the cab 12 or the first articulated structure section 1 is reserved for the overall overhead model. When a plurality of shooting components 6 are arranged on the cab 1, only a partial model of the area where the outline of the cab 12 is located is reserved; when several camera elements 6 are simultaneously arranged on the driver's cab 1 and the first vehicle body 11, a partial model of the region of the contour of the articulated structure section 1 is retained.
Step 102C, finding out an actual area corresponding to a part of the model in the actual vehicle body, outwardly offsetting a preset distance L relative to the actual area, and marking a preset reference frame K on a datum plane, for example, marking the preset reference frame K on the ground or a platform;
102D, arranging a plurality of calibration devices 7 on the reference plane around the preset reference frame K, where the feature markers of the calibration devices 7 are entirely located outside the preset reference frame K, and the projection portion on the reference plane falls on the preset reference frame K, for example, the vertices or the inner edges of the feature markers may fall on the preset reference frame K.
In some embodiments, the step 102 of arranging the plurality of calibration devices 7 on the reference plane around the preset reference frame K comprises:
four calibration devices 7 are arranged and are respectively arranged at four corners of the preset reference frame K;
in some embodiments, before calibrating the captured image in step 103, the calibration method of the present disclosure further includes:
105, inputting actual parameters of the plurality of calibration devices 7 through the human-computer interaction part 9, so that the image processing part 8 corrects distortion in the images shot by the plurality of shooting parts 6 to realize calibration;
the actual parameters of the plurality of calibration devices 7 include the distance between two adjacent calibration devices 7 and the overall dimension of the feature identifier in a single calibration device 7, and the feature identifier is configured to be calibrated in the human-computer interaction component 9 by an operator.
According to the embodiment, the actual parameters of the calibration devices 7 are input, the characteristic markers of the calibration devices 7 can be used as targets in the actually shot images, and the distortion of the actual images is corrected according to the actual parameters, so that the human-computer interaction component 9 presents a more real view, an operator can observe the view conveniently, and the safety of the road roller in the advancing and working processes is improved.
In some embodiments, after the step 102 of disposing the plurality of calibration devices 7 on the reference plane around the preset reference frame K, and before the step 103, the calibration method of the present disclosure further includes:
and 106, adjusting the heights of the plurality of calibration devices 7 to adjust the proportion of the vehicle body of the calibrated articulated road roller in the panoramic image. For example, the height of the calibration device 7 can be automatically adjusted.
Through the height adjustment of the height calibration device 7, the plane distortion of the height of the calibration device 7 can be minimized, and if the calibration device 7 is too close to the shooting component 6, more scenes outside the vehicle body can be seen after calibration; if the calibration device 7 is too far away from the shooting component 6, the number of scenes seen outside the vehicle body after calibration is reduced. Therefore, the proportion of the vehicle body and the environment outside the vehicle body in the image can be made appropriate by adjusting the calibration device 7 to an appropriate height.
In some embodiments, the plurality of photographing parts 6 includes four photographing parts 6 respectively provided at the front, rear, left, and right sides of the cab 12, and one calibration device 7 is respectively provided at four corners of the preset reference frame K.
Based on this arrangement, in the case where the articulated frame 3 is located on the front side of the cab 12, the adjusting 106 the height of the plurality of calibration devices 7 includes:
step 106A, adjusting the height of the calibration device 7 at the left front position and the right front position to a height difference with the vehicle body structure not exceeding a first preset height, namely the height is closer and lower than the installation height of the shooting part 6 at the front part;
and 106B, adjusting the height of the calibration devices 7 at the left rear position and the right rear position to be lower than the installation height of the shooting part 6 at the rear part, wherein the height difference between the calibration devices 7 at the left front position and the right front position does not exceed a second preset height.
Or in the case of articulated frame 3 located on the rear side of cab 12, adjusting the height of the plurality of calibration devices 7 in step 106 comprises:
step 106C, adjusting the heights of the calibration devices 7 at the left rear position and the right rear position to be not more than a third preset height from the height difference of the vehicle body structure and lower than the installation height of the shooting part 6 at the rear part;
and 106D, adjusting the height of the calibration devices 7 at the left front position and the right front position to be lower than the installation height of the shooting part 6 at the front part, wherein the height difference between the calibration devices 7 at the left rear position and the right rear position does not exceed a fourth preset height.
The embodiment can enable the shooting component 6 close to the hinge frame 3 to clearly and comprehensively shoot the vehicle body structure, and enable the occupation ratio of the whole vehicle body in the shot image to be proper, if the calibration device 7 is too close to the shooting component 6, the occupation ratio of the vehicle body in the displayed image is very small, and the obstacles around the vehicle cannot be clearly and visually observed; if the calibration device 7 is too far away from the shooting component 6, the proportion of the vehicle body in the display image is large, so that the visible area around the vehicle body is small, and the safety distance requirement required by the system cannot be met. Therefore, by adjusting the calibration device 7 to a suitable height, the proportion of the vehicle body and the environment outside the vehicle body in the image can be suitable, and the distortion of the vehicle body after calibration on the plane where the region of interest is located can be minimized.
According to the embodiment of the disclosure, the original image around the vehicle is collected through the shooting component 6 installed on the cab of the road roller, an operator completes calibration through the human-computer interaction component 9 in combination with the calibration device 7, the image processing component obtains the complete all-round-looking image of the vehicle according to the calibration information, the shooting component 6 is completely installed at the hinged section where the cab 12 is located, the height of the feature identification object from the ground can be adjusted according to the vehicle requirements through the specially-made calibration device 7, the hinged frame 3 and the vehicle body structure are converted into the bird's-eye view image to be displayed in the all-round-looking image, the last view angle of the panoramic system of the blind-corner-free hinged road roller is finally realized, and the all-round-looking area displayed in the human-computer interaction component 9 is controlled to move up and.
The embodiments provided by the present disclosure are described in detail above. The principles and embodiments of the present disclosure are explained herein using specific examples, which are set forth only to help understand the method and its core ideas of the present disclosure. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and such improvements and modifications also fall within the scope of the claims of the present disclosure.
Claims (16)
1. The utility model provides an articulated road roller panorama look around system, its characterized in that, articulated road roller includes first articulated structure section (1) and second articulated structure section (2) of connecting through articulated frame (3), first articulated structure section (1) includes first automobile body (11) and establishes driver's cabin (12) on first automobile body (11), first automobile body (11) is one in preceding automobile body and the back automobile body, second articulated structure section (2) include second automobile body (21), second automobile body (21) do in another in preceding automobile body and the back automobile body, panorama look around system includes:
a plurality of camera means (6) mounted to the first articulated structure section (1) and configured to camera the environment surrounding the articulated roller;
an image processing means (8) configured to receive images captured by the plurality of capturing means (6) and to stitch the images as a full circle around the first articulated structure section (1); and
a human-computer interaction part (9) configured to display the surround view image formed by splicing the image processing part (8).
2. The panoramic all-round system of an articulated roller according to claim 1, characterized in that the plurality of camera elements (6) are all located on the same side of the articulated frame (3) along the length of the articulated roller.
3. The panoramic all-round system of an articulated road roller according to claim 1, characterized in that the plurality of camera elements (6) are arranged around the periphery of the cab (12) or the periphery of the first articulated structure section (1).
4. The articulated roller panoramic looking around system of claim 1, wherein the plurality of cameras (6) comprises four cameras (6) arranged at the front, rear, left side and right side of the cab (12).
5. The panoramic all-round system of the articulated roller according to claim 4, characterized in that the plurality of shooting elements (6) are arranged on the top of the cab (12), and the shooting surface of the shooting elements (6) faces the outside of the cab (12) and is inclined downwards.
6. The articulated roller panoramic looking around system of claim 1, wherein the plurality of cameras (6) comprises four cameras (6) respectively arranged on a side of the cab (12) close to the articulated frame (3), on a left side of the cab (12), on a right side of the cab (12) and on a side of the first vehicle body (11) remote from the articulated frame (3).
7. The articulating roller panoramic all-round system of claim 1, further comprising:
a walking control component (10) which is electrically connected with the image processing component (8) and is configured to control the traveling direction and the traveling speed of the articulated road roller and transmit the information of the traveling direction and the traveling speed to the image processing component (8);
wherein the image processing part (8) is configured to move up and down the panoramic image displayed in the human-computer interaction part (9) according to the traveling direction, move down the panoramic image when the traveling direction is forward, move up the panoramic image when the traveling direction is backward, and determine how fast the panoramic image moves and where the final image stops according to the traveling speed.
8. The panoramic all-round system of the articulated road roller according to any one of claims 1 to 7, characterized by further comprising a plurality of calibration devices (7) arranged on a preset reference plane outside the cab (12) and around the outer circumference of the cab (12) or the first articulated structure section (1), wherein the top surfaces of the plurality of calibration devices (7) are lower than the installation height of the corresponding shooting component (6), and the plurality of calibration devices (7) are configured to calibrate the shot images before the shooting components (6) are in full use.
9. The panoramic all-round system of an articulated road roller according to claim 8, characterized in that the human-machine interaction means (9) are configured to receive a calibration command from an operator moving a calibration cursor (X) onto a feature identifier in the calibration device (7) and to send it to the image processing means (8); the image processing means (8) is configured to receive the calibration instructions and to correct distortions in the images captured by the plurality of capturing means (6) in accordance with the actual parameters of the plurality of calibration devices (7).
10. Panoramic all-round system of an articulated roller according to claim 9, characterized in that the actual parameters of the calibration devices (7) comprise: the distance between two adjacent calibration devices (7) and the overall dimension of a feature identifier in a single calibration device (7), wherein the feature identifier is configured to be used by an operator to perform calibration in the human-computer interaction component (9) through the calibration cursor (X).
11. The panoramic all-round system of an articulated roller according to claim 8, characterized in that said plurality of calibration means (7) are arranged outside a preset reference frame (K) which is globally offset outwards by a preset distance (L) with respect to a rectangular area formed by the profile of the cab (12) or of the first articulated structure section (1);
in combination with the display of the human-computer interaction part (9), the shooting angles of the plurality of shooting parts (6) are configured to be adjusted to a range from the body of the articulated road roller to the preset reference frame (K).
12. The panoramic all-round system of an articulated roller according to claim 8, characterized in that said plurality of calibration means (7) are arranged outside a preset reference frame (K) which is globally offset outwards by a preset distance (L) with respect to the area in which the profile of the cab (12) is located;
the calibration devices (7) are respectively arranged at four corners of the preset reference frame (K).
13. Panoramic all-round system of an articulated roller according to claim 8, characterized in that the calibration device (7) is height-adjustable.
14. The panoramic all-round system of an articulated roller according to claim 8, characterized in that the human-machine interaction means (9) are configured to receive externally input image revision parameters of at least some of the plurality of cameras (6) so that the all-round images are at the same height.
15. Panoramic all-round system of an articulated roller according to claim 8, characterized in that the calibration means (7) comprise:
a base (71);
the first end of the first supporting frame (72) is fixed on the base (71);
the second supporting frame (73) is positioned above the first supporting frame (72), and the first end of the second supporting frame (73) is connected with the second end of the first supporting frame (72) and is adjustable in height; and
the frame (74) is connected to the second end of the second support frame (73), and the frame (74) is used as a characteristic identifier when an operator marks in the man-machine interaction part (9).
16. An articulated compactor, comprising: a first articulated structure section (1) and a second articulated structure section (2) connected by an articulated frame (3) and the panoramic all-round system of the articulated road roller of any one of claims 1 to 15;
wherein the first articulated structure section (1) comprises a first vehicle body (11) and a cab (12) provided on the first vehicle body (11), the first vehicle body (11) being one of a front vehicle body and a rear vehicle body, the second articulated structure section (2) comprising a second vehicle body (21), the second vehicle body (21) being the other of the front vehicle body and the rear vehicle body.
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| CN202022016196.7U CN212302504U (en) | 2020-09-15 | 2020-09-15 | Panoramic all-round looking system of articulated road roller and articulated road roller |
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| CN202022016196.7U CN212302504U (en) | 2020-09-15 | 2020-09-15 | Panoramic all-round looking system of articulated road roller and articulated road roller |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113291385A (en) * | 2021-05-08 | 2021-08-24 | 深圳市虹鹏能源科技有限责任公司 | Vehicle-mounted monitoring system and method for tunnel horizontal transport vehicle |
| WO2022057077A1 (en) * | 2020-09-15 | 2022-03-24 | 徐工集团工程机械股份有限公司道路机械分公司 | Hinged engineering machinery, panoramic surround-view system and calibration method thereof |
| US11640715B2 (en) | 2021-06-21 | 2023-05-02 | Caterpillar Paving Products Inc. | Birds eye view camera for an asphalt paver |
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2020
- 2020-09-15 CN CN202022016196.7U patent/CN212302504U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022057077A1 (en) * | 2020-09-15 | 2022-03-24 | 徐工集团工程机械股份有限公司道路机械分公司 | Hinged engineering machinery, panoramic surround-view system and calibration method thereof |
| CN113291385A (en) * | 2021-05-08 | 2021-08-24 | 深圳市虹鹏能源科技有限责任公司 | Vehicle-mounted monitoring system and method for tunnel horizontal transport vehicle |
| CN113291385B (en) * | 2021-05-08 | 2022-04-01 | 深圳市虹鹏能源科技有限责任公司 | Vehicle-mounted monitoring system and method for tunnel horizontal transport vehicle |
| US11640715B2 (en) | 2021-06-21 | 2023-05-02 | Caterpillar Paving Products Inc. | Birds eye view camera for an asphalt paver |
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